Colony

#include <termios.h>

#include <stdio.h>

#include <stdlib.h>

#include <sys/types.h>

#include <sys/stat.h>

#include <fcntl.h>

int main()

{

        int serialFile = open("/dev/ttyUSB0", O_RDONLY);

        if(serialFile < 1)

        {

                printf("Error opening serial\n");

                return -1;

        }

    struct termios attributes;

    tcgetattr(serialFile, &attributes);

        cfsetispeed(&attributes, 115200);

        cfsetospeed(&attributes, 115200);

        tcsetattr(serialFile, TCSANOW, &attributes);

        int encoders[2];

        while(1)

        {

                read(serialFile, encoders, sizeof(encoders));

                printf("%d %d\n", encoders[0], encoders[1]);

        }

}